From 8212c2c70a6133aabd26f7f3a96137a9d239b326 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 17 Mar 2022 12:43:54 -0600 Subject: [PATCH] sum chang --- src/main/java/frc4388/robot/Constants.java | 7 +++---- src/main/java/frc4388/robot/subsystems/Turret.java | 6 +++--- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index cb10859..ff182de 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -209,14 +209,13 @@ public final class Constants { //Gains for hood public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.7); - //#region test start - - //#endregion test end public static final double TURRET_FORWARD_HARD_LIMIT = 18.429; public static final double TURRET_REVERSE_HARD_LIMIT = -106.454; - public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 4; + public static final double TURRET_FORWARD_SOFT_LIMIT = TURRET_FORWARD_HARD_LIMIT - 5; public static final double TURRET_REVERSE_SOFT_LIMIT = TURRET_REVERSE_HARD_LIMIT + 2; + + public static final double TURRET_HARD_LIMIT_TOLERANCE = 20.0; //Shooter gains for actual Drum public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0); diff --git a/src/main/java/frc4388/robot/subsystems/Turret.java b/src/main/java/frc4388/robot/subsystems/Turret.java index 4c04332..17f05f2 100644 --- a/src/main/java/frc4388/robot/subsystems/Turret.java +++ b/src/main/java/frc4388/robot/subsystems/Turret.java @@ -146,16 +146,16 @@ public class Turret extends SubsystemBase { leftPrevState = leftState; // * Update the state of the left limit switch. - // speed limiting near hard limits + // * speed limiting near hard limits. tolerance (distance when ramping starts) is 20 rotations. speed at hard limits is 0.2 (percent output). double currentPos = this.getEncoderPosition(); double forwardDistance = Math.abs(currentPos - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT); double reverseDistance = Math.abs(currentPos - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT); - if (forwardDistance < 20.0) { + if (forwardDistance < ShooterConstants.TURRET_HARD_LIMIT_TOLERANCE) { this.speedLimiter = 0.2 + (forwardDistance * 0.05); } - if (reverseDistance < 20.0) { + if (reverseDistance < ShooterConstants.TURRET_HARD_LIMIT_TOLERANCE) { this.speedLimiter = 0.2 + (reverseDistance * 0.05); } }